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-rw-r--r--src-avr/ao.h20
-rw-r--r--src-avr/ao_log_telescience.c141
-rw-r--r--src-avr/ao_spi_slave.c48
-rw-r--r--src-avr/ao_storage.c5
-rw-r--r--src-avr/telescience/Makefile2
5 files changed, 139 insertions, 77 deletions
diff --git a/src-avr/ao.h b/src-avr/ao.h
index fb3612d4..9ff9dc25 100644
--- a/src-avr/ao.h
+++ b/src-avr/ao.h
@@ -577,12 +577,31 @@ extern __pdata uint32_t ao_log_start_pos;
extern __xdata uint8_t ao_log_running;
extern __xdata enum flight_state ao_log_state;
+#define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
+#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
+
+struct ao_log_telescience {
+ uint8_t type;
+ uint8_t csum;
+ uint16_t tick;
+ uint16_t tm_tick;
+ uint8_t tm_state;
+ uint8_t unused;
+ uint16_t adc[NUM_ADC];
+};
+
+extern struct ao_log_telescience ao_log_store;
+
/* required functions from the underlying log system */
/* Return the flight number from the given log slot, 0 if none */
uint16_t
ao_log_flight(uint8_t slot);
+/* Flash has been erased, go find the start of storage */
+void
+ao_log_restart(void);
+
/* Flush the log */
void
ao_log_flush(void);
@@ -1440,6 +1459,7 @@ ao_spi_slave_init(void);
#define AO_COMPANION_SETUP 1
#define AO_COMPANION_FETCH 2
+#define AO_COMPANION_STATE 3
struct ao_companion_command {
uint8_t command;
diff --git a/src-avr/ao_log_telescience.c b/src-avr/ao_log_telescience.c
index 62e0493c..387eb6ea 100644
--- a/src-avr/ao_log_telescience.c
+++ b/src-avr/ao_log_telescience.c
@@ -30,17 +30,9 @@ uint32_t ao_log_current_pos;
#define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
-struct ao_log_telescience {
- uint8_t type;
- uint8_t csum;
- uint16_t tick;
- union {
- uint8_t bytes[28];
- uint16_t adc[NUM_ADC];
- } u;
-};
+struct ao_log_telescience ao_log_store;
+struct ao_log_telescience ao_log_fetch;
-static struct ao_log_telescience log;
static uint8_t ao_log_adc_pos;
static uint8_t
@@ -54,20 +46,20 @@ ao_log_csum(__xdata uint8_t *b) __reentrant
return -sum;
}
-uint8_t
-ao_log_telescience_data(struct ao_log_telescience *log)
+static uint8_t
+ao_log_telescience_write(void)
{
uint8_t wrote = 0;
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_log_store.csum = 0;
+ ao_log_store.csum = ao_log_csum((__xdata uint8_t *) &ao_log_store);
ao_mutex_get(&ao_log_mutex); {
if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
ao_log_stop();
if (ao_log_running) {
wrote = 1;
ao_storage_write(ao_log_current_pos,
- log,
+ (__xdata uint8_t *) &ao_log_store,
sizeof (struct ao_log_telescience));
ao_log_current_pos += sizeof (struct ao_log_telescience);
}
@@ -87,27 +79,56 @@ ao_log_valid(struct ao_log_telescience *log)
return 0;
}
+static uint8_t
+ao_log_telescience_read(uint32_t pos)
+{
+ if (!ao_storage_read(pos, &ao_log_fetch, sizeof (struct ao_log_telescience)))
+ return 0;
+ return ao_log_valid(&ao_log_fetch);
+}
+
void
ao_log_start(void)
{
- ao_log_running = 1;
- ao_wakeup(&ao_log_running);
+ if (!ao_log_running) {
+ ao_log_running = 1;
+ ao_wakeup(&ao_log_running);
+ }
}
void
ao_log_stop(void)
{
- ao_log_running = 0;
- ao_wakeup((void *) &ao_adc_head);
+ if (ao_log_running) {
+ ao_log_running = 0;
+ }
}
void
-ao_log_check_pin(void)
+ao_log_restart(void)
{
- if (PINB & (1 << PINB0))
- ao_log_stop();
- else
- ao_log_start();
+ printf("Finding end of current data...\n"); flush();
+ /* Find end of data */
+ ao_log_end_pos = ao_storage_config;
+ for (ao_log_current_pos = 0;
+ ao_log_current_pos < ao_storage_config;
+ ao_log_current_pos += ao_storage_block)
+ {
+ printf("reading %ld\n", ao_log_current_pos); flush();
+ if (!ao_log_telescience_read(ao_log_current_pos))
+ break;
+ }
+ printf("last block is at %ld\n", ao_log_current_pos); flush();
+ if (ao_log_current_pos > 0) {
+ ao_log_current_pos -= ao_storage_block;
+ for (; ao_log_current_pos < ao_storage_config;
+ ao_log_current_pos += sizeof (struct ao_log_telescience))
+ {
+ if (!ao_log_telescience_read(ao_log_current_pos))
+ break;
+ }
+ }
+ printf("Logging will start at %ld\n", ao_log_current_pos); flush();
}
void
@@ -115,50 +136,42 @@ ao_log_telescience(void)
{
ao_storage_setup();
- /* Find end of data */
- while (ao_log_start_pos < ao_log_end_pos) {
- if (!(ao_storage_read(ao_log_start_pos, &log, sizeof (struct ao_log_telescience))))
- break;
- if (!ao_log_valid(&log))
- break;
- }
-
- /*
- * Wait for the other side to settle down
+ /* This can take a while, so let the rest
+ * of the system finish booting before we start
*/
- ao_delay(AO_SEC_TO_TICKS(5));
+ ao_delay(AO_SEC_TO_TICKS(10));
- ao_log_check_pin();
-
- ao_log_current_pos = ao_log_start_pos;
- ao_log_end_pos = ao_storage_config;
+ ao_log_restart();
for (;;) {
while (!ao_log_running)
ao_sleep(&ao_log_running);
- flush();
- memset(&log, '\0', sizeof (struct ao_log_telescience));
- log.type = AO_LOG_TELESCIENCE_START;
- log.tick = ao_time();
- ao_log_telescience_data(&log);
+ ao_log_start_pos = ao_log_current_pos;
+ printf("Start logging at %ld state %d\n",
+ ao_log_current_pos, ao_log_store.tm_state); flush();
+ ao_log_store.type = AO_LOG_TELESCIENCE_START;
+ ao_log_store.tick = ao_time();
+ ao_log_telescience_write();
/* Write the whole contents of the ring to the log
* when starting up.
*/
ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
- log.type = AO_LOG_TELESCIENCE_DATA;
+ ao_log_store.type = AO_LOG_TELESCIENCE_DATA;
while (ao_log_running) {
/* Write samples to EEPROM */
while (ao_log_adc_pos != ao_adc_head) {
- log.tick = ao_adc_ring[ao_log_adc_pos].tick;
- memcpy(&log.u.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc,
+ ao_log_store.tick = ao_adc_ring[ao_log_adc_pos].tick;
+ memcpy(&ao_log_store.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc,
NUM_ADC * sizeof (uint16_t));
- ao_log_telescience_data(&log);
+ ao_log_telescience_write();
ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
}
/* Wait for more ADC data to arrive */
ao_sleep((void *) &ao_adc_head);
}
- flush();
+ printf("Stop logging at %ld state %d\n",
+ ao_log_current_pos, ao_log_store.tm_state); flush();
+ memset(&ao_log_store.adc, '\0', sizeof (ao_log_store.adc));
}
}
@@ -187,16 +200,17 @@ ao_log_list(void)
uint8_t flight = 0;
for (pos = 0; ; pos += sizeof (struct ao_log_telescience)) {
- if (!ao_storage_read(pos, &log, sizeof (struct ao_log_telescience)))
- break;
- if (!ao_log_valid(&log) || log.type == AO_LOG_TELESCIENCE_START) {
+ if (pos >= ao_storage_config ||
+ !ao_log_telescience_read(pos) ||
+ ao_log_fetch.type == AO_LOG_TELESCIENCE_START)
+ {
if (pos != start) {
printf("flight %d start %x end %x\n",
flight,
(uint16_t) (start >> 8),
- (uint16_t) ((pos + 0xff) >> 8));
+ (uint16_t) ((pos + 0xff) >> 8)); flush();
}
- if (!ao_log_valid(&log))
+ if (ao_log_fetch.type != AO_LOG_TELESCIENCE_START)
break;
start = pos;
flight++;
@@ -220,9 +234,7 @@ ao_log_delete(void)
}
ao_log_stop();
for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) {
- if (!ao_storage_read(pos, &log, sizeof (struct ao_log_telescience)))
- break;
- if (!ao_log_valid(&log))
+ if (!ao_log_telescience_read(pos))
break;
ao_storage_erase(pos);
}
@@ -233,11 +245,23 @@ ao_log_delete(void)
printf ("Erased\n");
}
+static void
+ao_log_query(void)
+{
+ printf("Logging enabled: %d\n", ao_log_running);
+ printf("Log start: %ld\n", ao_log_start_pos);
+ printf("Log cur: %ld\n", ao_log_current_pos);
+ printf("Log end: %ld\n", ao_log_end_pos);
+ printf("log data tick: %04x\n", ao_log_store.tick);
+ printf("TM data tick: %04x\n", ao_log_store.tm_tick);
+ printf("TM state: %d\n", ao_log_store.tm_state);
+}
+
const struct ao_cmds ao_log_cmds[] = {
{ ao_log_set, "L <0 off, 1 on>\0Set logging mode" },
{ ao_log_list, "l\0List stored flight logs" },
{ ao_log_delete, "d 1\0Delete all stored flights" },
- { ao_spi_slave_debug, "s\0Dump SPI slave data" },
+ { ao_log_query, "q\0Query log status" },
{ 0, NULL },
};
@@ -249,5 +273,4 @@ ao_log_init(void)
ao_cmd_register(&ao_log_cmds[0]);
ao_add_task(&ao_log_task, ao_log_telescience, "log");
-// ao_add_task(&ao_spi_task, ao_spi_telescience, "spi");
}
diff --git a/src-avr/ao_spi_slave.c b/src-avr/ao_spi_slave.c
index 8e01f586..d44e4d0e 100644
--- a/src-avr/ao_spi_slave.c
+++ b/src-avr/ao_spi_slave.c
@@ -26,7 +26,7 @@ static const struct ao_companion_setup ao_companion_setup = {
.channels = NUM_ADC
};
-static void ao_spi_slave_recv(void)
+static uint8_t ao_spi_slave_recv(void)
{
uint8_t *buf;
uint8_t len;
@@ -35,7 +35,8 @@ static void ao_spi_slave_recv(void)
buf = (uint8_t *) &ao_companion_command;
while (len--) {
while (!(SPSR & (1 << SPIF)))
- ;
+ if ((PINB & (1 << PINB0)))
+ return 0;
*buf++ = SPDR;
}
@@ -49,17 +50,28 @@ static void ao_spi_slave_recv(void)
buf = (uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc;
len = NUM_ADC * sizeof (uint16_t);
break;
+ case AO_COMPANION_STATE:
+ break;
default:
- return;
+ return 0;
}
- /* Send the outbound data */
- while (len--) {
- SPDR = *buf++;
- while (!(SPSR & (1 << SPIF)))
- ;
+ if (len) {
+ /* Send the outbound data */
+ while (len--) {
+ SPDR = *buf++;
+ while (!(SPSR & (1 << SPIF)))
+ if ((PINB & (1 << PINB0)))
+ return 0;
+ }
+ (void) SPDR;
}
- (void) SPDR;
+ ao_log_store.tm_tick = ao_companion_command.tick;
+ if (ao_log_store.tm_state != ao_companion_command.flight_state) {
+ ao_log_store.tm_state = ao_companion_command.flight_state;
+ return 1;
+ }
+ return 0;
}
static uint8_t ao_spi_slave_running;
@@ -67,16 +79,18 @@ static uint8_t ao_spi_slave_running;
ISR(PCINT0_vect)
{
if ((PINB & (1 << PINB0)) == 0) {
- if (!(PCMSK0 & (1 << PCINT1)))
- PCMSK0 |= (1 << PCINT1);
- else {
- PCMSK0 &= ~(1 << PCINT1);
+ if (!ao_spi_slave_running) {
+ uint8_t changed;
+ ao_spi_slave_running = 1;
cli();
- if (!ao_spi_slave_running) {
- ao_spi_slave_running = 1;
- ao_spi_slave_recv();
- }
+ changed = ao_spi_slave_recv();
sei();
+ if (changed && ao_flight_boost <= ao_log_store.tm_state) {
+ if (ao_log_store.tm_state < ao_flight_landed)
+ ao_log_start();
+ else
+ ao_log_stop();
+ }
}
} else {
ao_spi_slave_running = 0;
diff --git a/src-avr/ao_storage.c b/src-avr/ao_storage.c
index 69183514..be2d3a03 100644
--- a/src-avr/ao_storage.c
+++ b/src-avr/ao_storage.c
@@ -153,8 +153,13 @@ ao_storage_zapall(void) __reentrant
ao_cmd_white();
if (!ao_match_word("DoIt"))
return;
+ if (ao_log_running) {
+ printf("Log is running, cannot erase\n");
+ return;
+ }
for (pos = 0; pos < ao_storage_config; pos += ao_storage_block)
ao_storage_erase(pos);
+ ao_log_restart();
}
void
diff --git a/src-avr/telescience/Makefile b/src-avr/telescience/Makefile
index 9b04fa6e..35ff4b27 100644
--- a/src-avr/telescience/Makefile
+++ b/src-avr/telescience/Makefile
@@ -58,7 +58,7 @@ ALTOS_SRC = \
PRODUCT=TeleScience-v0.1
MCU=atmega32u4
PRODUCT_DEF=-DTELESCIENCE
-IDPRODUCT=0x000a
+IDPRODUCT=0x0011
CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues $(PRODUCT_DEF) -I. -DAVR
NICKLE=nickle
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-17 10:40:15 +0000